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    "# NonlinearISAM\n",
    "\n",
    "## Overview\n",
    "\n",
    "The `NonlinearISAM` class wraps the incremental factorization version of iSAM {cite:p}`http://dx.doi.org/10.1109/TRO.2008.2006706`. It is largely superseded by [iSAM2](./ISAM2.ipynb) but it is a simpler class, with less bells and whistles, that might be easier to debug. For background, also see the more recent booklet by {cite:t}`https://doi.org/10.1561/2300000043`.\n"
   ]
  }
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